SMC LECSA Series AC Servo Motor Driver Operation Manual
Below you will find brief information for AC Servo Motor Driver LECSA Series. The LECSA Series AC Servo Motor Driver is a versatile device, suitable for a variety of applications, featuring various control modes and settings including position control, speed control, torque control and positioning mode, utilizing both pulse input and point table methods. The device offers features such as home position return, automatic tuning, and selectable electronic gears.
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Doc. no. LEC-OM05607
(Simplified Edition)
PRODUCT NAME
AC Servo Motor Driver
(Pulse input type/Positioning type)
MODEL / Series / Product Number
LECSA Series
Contents
Pre-Operation Procedure......................................................................7
List of Parameters for each Mode........................................................16
Parameters common to each mode................................................................ 16
Parameter Configuration using Setup software (MR Configurator
PC Setup software (MR Configurator
) ........................................................ 18
Start up the Setup software (MR Configurator
)............................................. 19
Settings to Allow Configuration of all Parameters........................................... 23
Recommended Parameter Values by Actuator Model ..................................... 27
Automatic Input Signal ON Selection Parameter Configuration..................... 35
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Allocation Examples for Position Control Mode (Pulse Input) ....................... 41
Setting a Maximum of 7 Points using the Point Table in Positioning mode (Point
Positioning Mode in Setup Software .............................................................. 48
Acceleration/deceleration Time Configuation .................................................. 51
Move distance Configuration and Operation< Move distance Configuration>52
Positioning (Point Table) Operation using the Setup Software ................... 53
Point table (Servo Mmotor Speed) Configuration ............................................ 55
Point Table (Acceleration time constant/Deceleration time constant) Configuration
Home Position Return Method .............................................................60
Diriving Methods for Each Mode .........................................................63
Speed Control Mode Operation Instruction ...................................................... 64
Torque Control Mode Operation Instruction..................................................... 65
Operation Instruction of Point Table system .................................................... 66
Positioning Mode (Programimg Method) ....................................................... 69
Operation Instruction Method of Program System .......................................... 71
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LECSA Series / Driver
Safety Instructions
These safety instructions are intended to prevent hazardous situations and/or equipment damage. These instructions indicate the level of potential hazard with the labels of “Caution,” “Warning” or “Danger”. They are all important notes for safety and must be followed in addition to International Standards (ISO/IEC), Japan Industrial Standards (JIS) *1.) and other safety regulations*2.).
*1) ISO 4414: Pneumatic fluid power -- General rules relating to systems
ISO 4413: Hydraulic fluid power -- General rules relating to systems
IEC 60204-1: Safety of machinery -- Electrical equipment of machines (Part 1: General requirements)
ISO 10218-1992: Manipulating industrial robots -- Safety
JIS B 8370: General rules for pneumatic equipment.
JIS B 8361: General rules for hydraulic equipment.
JIS B 9960-1: Safety of machinery – Electrical equipment for machines. (Part 1: General requirements)
JIS B 8433-1993: Manipulating industrial robots - Safety. etc.
*2) Labor Safety and Sanitation Law, etc.
Caution
Warning
Caution indicates a hazard with a low level of risk which, if not avoided, could result in minor or moderate injury.
Warning indicates a hazard with a medium level of risk which, if not avoided, could result in death or serious injury.
Danger
Danger indicates a hazard with a high level of risk which, if not avoided, will result in death or serious injury.
Warning
1. The compatibility of the product is the responsibility of the person who designs the equipment or decides its specifications.
Since the product specified here is used under various operating conditions, its compatibility with specific equipment must be decided by the person who designs the equipment or decides its specifications based on necessary analysis and test results.
The expected performance and safety assurance of the equipment will be the responsibility of the person who has determined its compatibility with the product.
This person should also continuously review all specifications of the product referring to its latest catalog information, with a view to giving due consideration to any possibility of equipment failure when configuring the equipment.
2. Only personnel with appropriate training should operate machinery and equipment.
The product specified here may become unsafe if handled incorrectly.
The assembly, operation and maintenance of machines or equipment including our products must be performed by an operator who is appropriately trained and experienced.
3. Do not service or attempt to remove product and machinery/equipment until safety is confirmed.
The inspection and maintenance of machinery/equipment should only be performed after measures to prevent falling or runaway of the driven objects have been confirmed.
When the product is to be removed, confirm that the safety measures as mentioned above are implemented and the power from any appropriate source is cut, and read and understand the specific product precautions of all relevant products carefully.
Before machinery/equipment is restarted, take measures to prevent unexpected operation and malfunction.
4. Contact SMC beforehand and take special consideration of safety measures if the product is to be used in any of the following conditions.
1) Conditions and environments outside of the given specifications, or use outdoors or in a place exposed to direct sunlight.
2) Installation on equipment in conjunction with atomic energy, railways, air navigation, space, shipping, vehicles, military, medical treatment, combustion and recreation, or equipment in contact with food and beverages, emergency stop circuits, clutch and lock circuits in press applications, safety equipment or other applications unsuitable for the standard specifications described in the product catalog.
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3) An application which could have negative effects on people, property, or animals requiring special safety analysis.
4) Use in an interlock circuit, which requires the provision of double interlock for possible failure by using a mechanical protective function, and periodical checks to confirm proper operation.
Note that the CAUTION level may lead to a serious consequence according to conditions. Please follow the instructions of both levels because they are important to personnel safety.
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LECSA Series / Driver
Safety Instructions
Caution
The product is provided for use in manufacturing industries.
The product herein described is basically provided for peaceful use in manufacturing industries.
If considering using the product in other industries; consult SMC beforehand and exchange specifications or a contract if necessary.
If anything is unclear, contact your nearest sales branch.
Limited warranty and Disclaimer/Compliance Requirements
The product used is subject to the following “Limited warranty and Disclaimer” and “Compliance
Requirements”.
Read and accept them before using the product.
Limited warranty and Disclaimer
The warranty period of the product is 1 year in service or 1.5 years after the product is delivered.*3.)
Also, the product may have specified durability, running distance or replacement parts. Please consult your nearest sales branch.
For any failure or damage reported within the warranty period which is clearly our responsibility, a replacement product or necessary parts will be provided.
This limited warranty applies only to our product independently, and not to any other damage incurred due to the failure of the product.
Prior to using SMC products, please read and understand the warranty terms and disclaimers noted in the specified catalog for the particular products.
*3.) Vacuum pads are excluded from this 1 year warranty.
A vacuum pad is a consumable part, so it is warranted for a year after it is delivered.
Also, even within the warranty period, the wear of a product due to the use of the vacuum pad or failure due to the deterioration of rubber material are not covered by the limited warranty.
Compliance Requirements
When the product is exported, strictly follow the laws required by the Ministry of Economy, Trade and
Industry (Foreign Exchange and Foreign Trade Control Law).
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Introduction
It is recommended that the operator read the operation manual for LECSA prior to use. For the handling and details of other equipment, please refer to the operation manual for said equipment.
Check that the main circuit power supply (AC100V/AC200V) and controller circuit power supply (24V) are wired correctly. Please refer to chapter 3.1 of the “LECSA Operation Manual” and chapter 2 of the “LECSA
Operation Manual (Simplified Edition)” for details.
When setup software (MR Configurator) is used, the LECSA□-□ model selection is required. Select '
MR-JN-A ' through “Model Selection" - "System settings" - "Setup" and "Project name".
Terms
Position control mode (pulse)
Positioning mode (Point table)
Control the motor rotation speed and direction with pulse train and perform positioning.
Set the positioning data, rotation speed, Acceleration/Deceleration time constant of the drivers point table and execute ON/OFF control of the positioning operation using the I/O signals (a maximum of 7 points can be used for the point table configuration).
1. Configuration
Minimum equipment and wiring requirements to get started
Provided by customer
100V AC /200 V AC
7 1
Provided by customer
24 VDC
Provided by customer
PC
6
2 8
4
Electric Actuators
Ex) LEF
Provided by customer
3
1 Driver LECSA*-S*
2 Motor cable LE-CSM-***
3 Encoder cable
4 I/O connector
LE-CSE-***
LE-CSNA
I/O cable
5 USB cable
6 Setup software (MR Configurator TM
LEC-CSNA-1
LEC-MR-J3USB
) LEC-MR-SETUP221
7 Main circuit power supply connector CNP1
8 Control circuit power supply connector CNP2 (Accessory)
Note) The lock cable option is not shown on this drawing. Refer to the “LECSA Operation Manual” for details.
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2. Pre-Operation Procedure
2.1 Flow chart
Power Supply Wiring
See P8 “3. Wiring”
Parameter setting
See P16 “4. List of Parameters for each Mode”
Parameter Settings using the Setup Software (MR
Configurator)
P18 “5. Parameter Settings using the Setup Software (MR
Configurator)”
Signal Assignment Configuration
See P39 “5.5 Changing I/O Signal Allocation”
Home position return Method
See P60 ”6. Home position return”.
Home position return Method
See P60 “6．Home position return”
“Position Control
Mode” Configuration
See P63
“7.1 Position Control
Mode”
Position control using pulse train input
“Speed control mode” Configuration
See P64 “7.2 Speed control mode”
Speed control though specifying the internal set speed using I/O signals
“Torque control mode”
Configuration
See P65
“7.3 Torque control mode”
Thrust control through specifying the internal set torque using I/O signals
“Positioning mode”
Configuration
See P66
“7.4. Positioning mode
(Point table)”
See P69
“7.5. Positioning Mode
(Program)”
Simple positioning mode which is operable using
I/O signals
-Point table method
-Program method
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3. Wiring
3.1 Power Supply Wiring
Connect the actuator and driver power supply. This wiring diagram is common for each mode.
(1) LECSA (Incremental encoder)
EX.) Power supply voltage is 200VAC single phase
Trouble
RA
OFF
ON
MC
Forced stop (Note 5) MC
SK
Servo motor
Main circuit power supply
1-phase 200 to 230VAC
NFB
[1]
MC (Note 6) CNP1
L
1
L
2
P
U
V
C
W
Built-in regenerative resistor (Note 1)
(Note 4)
U
V
W
Motor
M
[2]
[3]
Control circuit power supply
24VDC (Note 7)
Circuit protector
CNP2
+24V
0V
CN2
(Note 2)
Encoder cable
Encoder
[1] Power supply input terminals, L
1
and L
2
: Specify power supply to input terminals L
1
and L
2
.
[2] Connect the motor power supply input terminal (U, V, W) to the driver power terminal (U, V, W).
Connect the motor ground terminal to the driver ground terminal.
Connect the encoder cable.
[3] Connect the 24VDC external power supply to the power supply for control circuit.
Refer to “LECSA Operation Manual”, Chapter 3 for further details if the power supply voltage is 100VAC.
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3.2 I/O signal connection example
Detail of connection examples for the I/O signals of the driver.
3.2.1 Position control mode
(1) Connection example
An example of a connection for the position control mode is shown below. Connect wires as necessary.
This is a wiring example using the Mitsubishi Electric (FX3U-□□MT/ES) PLC for position control.
(Connection example of the open collector system) See“LECSA Operation Manual” and the technical data disclosed the PLC and positioning unit operation manuals.
Programmable logic
controller
FX
3U
MT/ES (Note 13)
2m max. (Note 8)
S/S
24V
0V
L
PLC power supply
N
24VDC
(Note 4, 10) DICOM
OPC
DOCOM
(Note 7)
CN1
1
2
13
PP 23
(Note 7)
CN1
9
12
ALM
MBR
(Note 2)
RA1
RA2
Trouble (Note 6)
Electromagnetic brake interlock
(Note 10, 12)
(Note 14)
Y000
COM1
Y010
COM3
NP 25
10m max.
(Note 15)
Y004
COM2
X
X
X
CR 5
INP 10
RD
OP
LG
SD
11
21
14
Plate
15 LA
16 LAR
17 LB
18 LBR
19 LZ
20 LZR
14 LG
Plate SD
Encoder A-phase pulse
(differential line driver)
Encoder B-phase pulse
(differential line driver)
Encoder Z-phase pulse
(differential line driver)
Control common
(Note 10, 11)
(Note 3, 5) Forced stop
Servo-on
(Note 5)
Reset
Forward rotation stroke end
Reverse rotation stroke end
10m max.
EM1
(Note 7)
CN1
8
SON 4
RES
LSP
LSN
3
6
7
(Note 9)
MR Configurator
Personal computer
USB cable
(option)
CN3
CNP1
(Note 1)
When connecting the CN1-23 pin and CN1-25 pin, supply the + 24V to OPC.
Refer to“LECSA Operation Manual”,section 3.2 for wiring details.
Refer to “LECSA Operation Manual (Simplified Edition)”,section 3.2.1 (2) and (3) for input/output signal details.
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(2) Input signal
Position control mode: P, Speed control mode: S, Torque control mode: T, Point table method: CP,
Program method: CL
● : Automatic ON can be set, ○ : Initial setting, □ : Assignment is available with parameter,－: Assignment is not available
Symbol Device name
Automatic
ON
P S T
CP/
CL
Function
PP
NP
PG
Forward rotation pulse train
Reverse rotation pulse train
Differential forward rotation pulse train
‐
‐
‐
○
○
○
‐
‐
‐
‐
‐
‐
‐
‐
‐
In the open collector system
(max. input frequency 200kpps)
Forward rotation pulse train across PP-DOCOM
Reverse rotation pulse train across NP-DOCOM
In the differential receiver system
NG
Differential reverse rotation pulse train
‐ ○ ‐ ‐ ‐
(max. input frequency 1Mpps)
Forward rotation pulse train across PG-PP
Reverse rotation pulse train across NG-NP
SON Servo-on ●
RES Reset
‐
○
○
○
○
○
○
○
□
Operation is available when SON is turned ON.
LSP
LSN
Forward rotation stroke end
Reverse rotation stroke end
●
●
‐
○
○
□
□
□
□
‐
‐
□
□
□
□
Alarm can be reset.
Turn this signal on before operation. When this signal turns off, the product is stopped suddenly and servo lock is enabled.
Turn this signal on before operation. When this signal turns off, the product is stopped suddenly and servo lock is enabled.
When this signal turns on, the torque will be lower than the set parameter torque.
TL1
ST1
ST2
RS1
RS2
Internal torque limit selection
Forward rotation start
Reverse rotation start
Forward rotation selection
Reverse rotation selection
SP1 Speed selection 1
SP2 Speed selection 2
SP3 Speed selection 3
‐
‐
‐
‐
‐
‐
‐
‐
‐
‐
‐
‐
‐
‐
○
○
‐
‐
○
□
□
‐
‐
○
○
○
□
□
○
○
‐
‐
‐
‐
‐
Start the servo motor.
Start the servo motor.
Servo motor torque generating direction is selected.
Servo motor torque generating direction is selected.
The command rotation speed during operation is selected.
EM1 Forced
CR Clear
●
‐
○
○
○
‐
○
‐
○
‐
When this signal turns on, forced stop can be released.
When CR is turned on, the droop pulses of the position control counter are cleared on its leading edge.
DI0
DI1
DI2
Point table No/
Program No. selection 1
Point table No/
Program No selection 2
Point table No/
Program No selection 3
●
●
●
‐
‐
‐
‐
‐
‐
‐
‐
‐
○
○
□
Select point table, program and return to home position mode with DI0 to DI2.
MD0
Automatic/manual selection
● ‐ ‐ ‐ ○
When this signal turns on, automatic operation mode is activated. When this signal turns off, manual operation mode is activated.
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(3) Output signal
Position control mode: P, Speed control mode: S, Torque control mode: T, Point table method: CP,
Program method: CL
○
: Initial setting,
□
: Assignment is available with parameter,－: Assignment is not available
Symbol Device name P S T
CP/
CL
Function
ALM Trouble ○ ○ ○ ○
This signal turns off while alarm is generated.
ZSP Zero
MBR
Electromagnetic brake interlock
‐
‐
□
□
○
○
‐
○
‐
□
□
○
○
‐
‐
□
‐
□
○
○
○
‐
‐
□
□
○
When servo-on turns on and operation is available, this signal turns on.
This signal turns on when the droop pulse is within the setting range.
When the servo motor rotation speed reaches the set speed, this signal turns on.
This signal turns on when reaching the speed restricted by parameter.
This signal turns on when reaching the torque set by parameter while torque is generated. .
When the servo motor rotation speed is lower than the speed set by parameter, this signal turns on.
This signal turns off in case of servo off or when alarm is generated.
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3.2.2 Speed control mode
(1) Connection example
An example of a connection for the speed control mode is shown below. Connect wires as necessary.
(Note 9,
10, 12)
(Note 8)
(Note 3, 5) Forced stop
Servo-on
Reset
Speed selection 1
Forward rotation start
Reverse rotation start
MR Configurator
Personal computer
24VDC (Note 4, 9)
10m max.
USB cable
(option)
DICOM
(Note 7)
CN1
1
(Note 7)
CN1
9
DOCOM
EM1
SON
13
8
4
10
11
ALM
SA
RD
RES
SP1
ST1
ST2
6
7
3
5
12 MBR
CN3
19
20
15
17
18
LZ
LZR
LA
16 LAR
LB
LBR
(Note 2)
14 LG
21 OP
Plate SD
2m max.
RA1
RA2
RA3
RA4
Trouble (Note 6)
Speed reached
Ready
Electromagnetic brake interlock
(Note 9, 11)
10m max.
Encoder Z-phase pulse
(differential line driver)
Encoder A-phase pulse
(differential line driver)
Encoder B-phase pulse
(differential line driver)
Control common
Control common
Encoder Z-phase pulse
(open collector)
CNP1 (Note 1)
Refer to“LECSA Operation Manual”,section 3.2 for wiring details.
Refer to “LECSA Operation Manual (Simplified Edition)”,section 3.2.1 (2) and (3) for input/output signal details.
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3.2.3 Torque control mode
(1) Wiring example
An example of a connection for the torque control mode is shown below. Connect wires as necessary.
(Note 8, 9)
(Note 3) Forced stop
Servo-on
Reset
(Note 7)
MR Configurator
Speed selection 1
Forward rotation selection
Reverse rotation selection
Personal computer
24VDC (Note 4, 8)
10m max.
USB cable
(option)
DICOM
DOCOM
EM1
(Note 6)
CN1
(Note 6)
CN1
1
9 ALM
13
8
11 RD
SON
RES
SP1
4
3
5
12 MBR
RS1
RS2
7
6
CN3
19
20
15
16
17
18
LZ
LZR
LA
LAR
LB
LBR
(Note 2)
14 LG
21 OP
Plate SD
2m max.
RA1
RA2
RA3
Trouble (Note 5)
Ready
Electromagnetic brake interlock
(Note 8, 10)
10m max.
Encoder Z-phase pulse
(differential line driver)
Encoder A-phase pulse
(differential line driver)
Encoder B-phase pulse
(differential line driver)
Control common
Control common
Encoder Z-phase pulse
(open collector)
CNP1 (Note 1)
Refer to“LECSA Operation Manual”,section 3.2 for wiring details.
Refer to “LECSA Operation Manual (Simplified Edition)”,section 3.2.1 (2) and (3) for input/output signal details.
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3.2.4 Positioning mode
(1) Connection example
An example of a connection for the position control mode is shown below. Connect wires as necessary.
(Note 9,
10, 12)
(Note 3, 5) Forced stop
Servo-on
Automatic/manual selection
Proximity dog
Point table No./Program No. selection 1
Point table No./Program No. selection 2
Forward rotation start
Reverse rotation start
(Note 8)
MR Configurator
+
Personal computer
24VDC (Note 4, 9)
10m max.
USB cable
(option)
OPC
DICOM
DOCOM
(Note 7)
CN1
(Note 7)
CN1
2
9 ALM
1
13
10 MEND
EM1
SON
8
4
11 RD
12 MBR
MD0
DOG
3
25
DI0
DI1
ST1
ST2
5
23
6
7
CN3
(Note 2)
RA1
RA2
RA3
RA4
Trouble (Note 6)
Travel completion
(Note 13)
Ready
Electromagnetic brake interlock
(Note 9, 11)
19
20
15
LZ
LZR
LA
16 LAR
17 LB
18 LBR
14 LG
21 OP
Plate SD
CNP1
2m max.
(Note 1)
10m max.
Encoder Z-phase pulse
(differential line driver)
Encoder A-phase pulse
(differential line driver)
Encoder B-phase pulse
(differential line driver)
Control common
Control common
Encoder Z-phase pulse
(open collector)
When connecting the CN1-23 pin and CN1-25 pin, supply the + 24V to OPC.
Refer to“LECSA Operation Manual”,section 3.2 for wiring details.
Refer to “LECSA Operation Manual (Simplified Edition)”,section 3.2.1 (2) and (3) for input/output signal details.
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3.2.5 Source I/O interfaces
Source type I/O interfaces can be used with this driver. If used, all DI-1 input signals and DO-1 output signals are source type signals. Complete wiring according to the following interfaces.
(1) Digital input interface DI-1
SON, etc.
Approx. 5.6k
Approx. 5mA
V
CES
1.0V
I
CEO
100 A
Switch
24VDC 10%
200mA
DICOM
(2) Digital output interface DO-1
A maximum voltage drop of 2.6V may occur in the driver.
ALM, etc.
Load
DOCOM
(Note) 24VDC 10%
200mA
If polarity of diode is reversed, servo amplifier will fail.
ORIGINAL IMAGE REQUIRED
Note. If the voltage drop (2.6V max) interferes with the relay operation, apply high voltage (up to 26.4V) from external source.
- 15 -
4. List of Parameters for each Mode
These parameters require configuration in each control mode. Please configure parameters as required.
Refer to “LECSA Operation Manual (Simplified Edition)”,section 5.3 and “LECSA Operation Manual”,chapter
4 for details.
Refer to “LECSA Operation Manual”,chapter 4 for parameters which are not disclosed in this document.
4.1 Parameters common to each mode
(1) [Basic settings parameters (No.PA□□)]
No. Symbol Name Unit
000h
(2) [I/O setting parameters (No. PD □□)]
These parameters are set when changing the input/output signal assignment and switching the input signal automatic on. See “LECSA Operation Manual (Simplified Edition)”,section 5.5 and “LECSA
Operation Manual” section 4.4 for details.
4.2 Position control mode
(1) [Basic settings parameters (No.PA□□)]
No. Symbol Description Unit
PA05 FBP Number of command input pulses per revolution
100 ×100 pulse/rev
1
PA08
PA09
ATU
RSP
Electronic gear denominator
(Command input pulse multiplying factor denominator)
Auto tuning mode
Auto tuning response
1
001h
6
100 pulse
000h
0 PA14 POL Rotation direction selection
4.3 Speed control mode
(1) [Basic settings parameters (No.PA□□)]
No. Symbol Name
PA08
PA09
ATU
RSP
Auto tuning mode
Auto tuning response
(2) [Extension setting parameters (No. PC□□)]
No. Symbol Name
[Applied]
[Applied]
[Applied]
[Applied]
Unit
001h
6
Unit
0 ms
0 ms
0 r/min
100 r/min
500 r/min
1000 r/min
200 r/min
300 r/min
500 r/min
800 r/min
- 16 -
4.4 Torque control mode
(1) [Extension setting parameters (No. PC□□)]
No. Symbol Name
[Applied]
[Applied]
[Applied]
[Applied]
0 ms
0 ms
0 r/min
100 r/min
500 r/min
1000 r/min
200 r/min
300 r/min
500 r/min
800 r/min
4.5 Positioning mode
(1) [Basic settings parameters (No.PA□□)]
No. Symbol
PA05 FBP
Name
Number of command input pulses per revolution
Unit
100 ×100 pulse/rev
1
1
PA08
PA09
ATU
RSP
Auto tuning mode
Auto tuning response
001h
6
100 pulse
000h
0 PA14 POL Rotation direction selection
(2) [Positioning setting parameters (No. PE□□)]
No. Symbol Name Unit
0000h
0000h
0010h
500 r/min
0 μm
100 ms
0 ×10 STM μm
100 r/min
0 ×10 STM μm
0 ×10 STM μm
(3) [I/O setting parameters (No. PD□□)]
These parameters are set when changing the assignment of the input/output signal and using the point table at a maximum of 7 points.
See “LECSA Operation Manual (Simplified Edition)”,section 5.5 and “LECSA Operation Manual”,section 4.4 for details.
- 17 -
5. Parameter Configuration using Setup software (MR Configurator
TM
)
This section describes the configuration procedure for main parameters using the setup software (MR
Configurator TM : LEC-MR-SETUP221E). See chapter 4 of the “LECSA Operation Manual” for parameter details.
5.1 PC Setup software (MR Configurator
TM
)
*1 Setup software version C5 or above is required.
*2 The setup software (MR Configurator
TM
: LEC-MR-SETUP221E)must be purchased as an additional item.
*3 The USB cable (LEC-MR-J3USB) must be purchased as an additional item.
5.1.1 Installation Method
Perform installation according to the “MR Configurator
TM on the setup software (MR Configurator
TM
instruction manual” (Manual/ib0300079*.pdf) contained
) CD ROM. The “SETUP221” software will be added to the PC.
5.2 Basic driver set-up for Initial Test Drive
Switch on the 24 VDC and 230 VAC power supply to the LECSA driver and wait until the driver display flashes as shown below.
- 18 -
5.2.1 Start up the Setup software (MR Configurator
TM
① Connect the PC and LECSA using the USB cable.
)
② Turn on the power of the LECSA.
③ Start application “SETUP221E”.
Once the application starts, the screen below will be displayed.
- 19 -
5.2.2 Driver ON LINE Check
Check that the driver is enabled (ON LINE).
If the driver is not enabled, check the wiring and power supply voltage.
5.2.3 Help Function
By selecting “MR Configurator Help” in “Help” from any window of the setup software, a “HELP” screen will be shown as shown below.
- 20 -
5.2.4 “System Settings”
① From “Setup” menu select “System Settings”, the “System Settings” window will be displayed.
5.2.5 Model Selection
① The Mitsubishi Electric Corporation series will be displayed in the model selection list.
② Please select MR-JN-A if using the LECSA.
③ Please select “servo amplifier connection USB” as the communication device.
④ Select “Online” in the connection selection menu.
⑤ Click OK.
⑥ Click OK.
②
①
③
④
⑤
- 21 -
5.2.6 Parameter Upload
Upload the current parameters from the driver to the software.
① From the “Parameters” menu select “Parameter list” the “parameter setting” window will open.
② Click the “Read All” button.
③ If a Servo-alarm occurs, click “OK”.
①
②
③
The parameters PA, PB, PC, PD and PE can be set using the following tabs.
PA** ： Basic settings/Basic settings (list)
PB** ： Gain/Filter
PC** ： Extension setting
PD** ： I/O setting
PE** ： Positioning setting
- 22 -
5.3 Parameter Settings
5.3.1 Settings to Allow Configuration of all Parameters
To enable settings for all parameters for this driver PA19 needs to be set to 00E.
① Select “Basic settings (list)” tab and change “PA19” Value to “00E”.
② Select “Write All”.
③ Cycle the poweroff, then on for parameters for this driver to be enabled.
②
①
- 23 -
5.3.2 “Control mode selection”
When using Position control mode (pulse input)
Change the “control mode” from “Position control mode (pulse input)” to “Positioning (Point table)”.
① From the “Basic settings” tab and “Parameter Setting” window from the drop down selection “Control mode selection” select “Positioning (Point table)
①
When using Position control mode (pulse input)
② Parameter PA01 will change to 000 under the “Basic settings (list)” tab.
Positioning mode (point table)
② Parameter PA01 will change to 006 under the “Basic settings (list)” tab.
③ Click “Write All”.
④ Click “OK”.
⑤ Click “OK” (Parameters will be enabled after cycling the power OFF→ON).
- 24 -
②
③
④
⑤
Please be aware of the following when changing parameters.
・ For each parameter type, all have the feature that “parameters are enabled after the power supply is cycled after configuration” (Driver data will not come into effect until the power supply has been turned off).
・ The parameter writing range to the driver differs between “Write” and “Write All”.
① “Write”： The parameter for the applicable frame will be written to the driver.
② “Write All”： All parameters will be written to the driver.
Details of each parameter will be displayed in the help window when the parameter is double clicked.
(See screenshot below.)
- 25 -
5.3.3 Parameter Configuration Method
Set the parameters for applicable actuator.
Refer to “LECSA Operation Manual (Simplified Edition)”,section 5.4.3 for recommended parameter values for
SMC supplied actuators.
However, when using position control mode (pulse input), do not alter parameters PE02/PE03/PE04/PE07/PE08/
PE10/PE11 from their initial values (Only change these parameters for Positioning mode (point table/program method)).
PA05/PA06/PA07 Configuration Examples
① Parameters PA05/PA06/PA07 are configured under the “Basic settings (list)” tab.
② Select “Write All”.
③ Cycle the power off to on. The parameters will now be active.
①
②
- 26 -
5.3.4 Recommended Parameter Values by Actuator Model
Please change the parameter values according to the customer application. See section 4 of the “LECSA
Operation Manual” for details.
Recommended Parameter Values [LEF]
LEFS25 LEFS32 LEFS40
Series Lead symbol H A B H A B H A B
Parameter
Para
No
Initial value
Recommended Value
Number of command input pulses per revolution *3.
Electronic gear numerator *3.
Electronic gear denominator *3.
Feel length multiplication (STM)
(Multiplier)
Home position return type
Home position return direction
Home position return Speed
(rpm)
Home position return/JOG operation
Accelerationeration/Deceleration time constants (msec)
Home position return position data (μm)
Stopper type home position return stopper time (msec)
Stopper type home position return torque limit value (%)
Regenerative option
Rotation direction selection *4
Adaptive tuning mode
★ Load to motor inertia moment ratio
Machine resonance suppression filter 1
PA05 100
PA06
PA07
PE02 0000
PE03 0010
PE03 0010
PE04 500 90
PE07 100 1000
PE08 0
PE10 100
PE11 15
PA02
PA14
PB01
1
1
000
0
000
PB06 7
PB13 4500
20 12
150
600
6
□□□
□□
3 (Stopper type)
1
□
(Motor side)
1 (+：Counter motors side)
000
50
4500
8 30
0000 ((<1000 stroke)/0001 (>1000 stroke)
300
300
100 (Positioning mode: 10)
24
75
1200
100
16
113
800
-2000 (<1000 stroke)/-200 (>1000 stroke)
200
30
225
400
60
1500
000 (Non)/002 (LEC-MR-RB-032)
20
90
1000
10
180
500
Notch shape selection 1 PB14 000 000
★ Parameter setting required.
Differs to initial value
*1. Parameter is set to the recommended value. Please set parameter according to customer application.
*2. Mechanical resonance may occur depending on the shape or mounting orientation of the work piece. Please change this parameter during initial configuration.
(Parameter initial configuration ⇒ Set the recommended parameter value ⇒ Operation start)
*3. Other than positioning mode: Actuator travel distance at 10 [μm/pulse] per pulse.
Positioning Mode: Minimum actuator travel distance of 1[μm].
*4. When the motor mounting position is right side parallel (LEFS*R) or left side parallel (LEFS*L), the rotation direction selection is 0(+: Counter motors side).
- 27 -
Series
Parameter
Lead symbol
LEFB25 LEFB25U LEFB32 LEFB32U LEFB40
S
LEFB40U
Para
No
Lead 54
Initial value
Recommended value
Number of command input pulses per revolution *3.
Electronic gear numerator *3.
Electronic gear denominator *3.
PA05 100
PA06 1
PA07 1
Feel length multiplication
(STM) (Multiplier)
PE02 0000
Home position return type PE03 0010
Home position return direction
Home position return
Speed (rpm)
Home position return/JOG operation
Accelerationeration/Decel eration time constants
(msec)
Home position return position data (μm)
Stopper type home position return stopper time (msec)
Stopper type home position return torque limit value (%)
Regenerative option
PE03 0010
PE04 500
PE07 100
PE08 0
PE10 100
PE11 15
Rotation direction selection
★ Adaptive tuning mode
★ Load to motor inertia moment ratio
□□ 1 □ (Motor side)
PA02
PB01
000
000
1 (+：
PA14 0
Counter motors side)
002
0 (+：
Counter motors side)
000 (Non)/002 (LEC-MR-RB-032)
1 (+：
Counter motors side)
0 (+：
Counter motors side)
1 (+：
Counter motors side)
000
PB06 7
100 (Positioning mode: 10)
0000 (<1000 stroke)/0001 (>1000 stroke)
□□□
100
54
3 (Stopper type)
66
2700
-3000 (<1000 stroke)/-300 (>1000 stroke)
200
30
50
0 (+：
Counter motors side)
★ Machine resonance suppression filter 1
★ Notch shape selection
1
PB13 4500
PB14 000
400
030
4500
000
★ Parameter setting required.
Differs to initial value
*1. Parameter is set to the recommended value. Please set parameter according to customer application.
*2. Mechanical resonance may occur depending on the shape or mounting orientation of the work piece. Please change this parameter during initial configuration.
(Parameter initial configuration ⇒ Set the recommended parameter value ⇒ Operation start)
*3. Other than positioning mode: Actuator travel distance at 10 [μm/pulse] per pulse.
Positioning Mode: Minimum actuator travel distance of 1[μm].
- 28 -
Recommended Parameter Values [LEJ]
Series
Parameter
Para.
No
Lead
Initial value
LEJS40 LEJS63
T
24 16 8 30 20 10 27 42
Recommended value
Number of command input pulses per revolution *3.
Electronic gear numerator
*3.
Electronic gear denominator *3.
Feel length multiplication
(STM) (Multiplier)
Home position return type
Home position return direction
Home position return
Speed (rpm)
Home position return/JOG operation
Accelerationeration/Decel eration time constants
(msec)
Home position return position data (μm)
Stopper type home position return stopper time (msec)
Stopper type home position return torque limit value (%)
Regenerative option
PA05 100
PA06 1
PA07 1 24
PE02 0000
PE03 0010
PE03 0010
PE04 500 75
PE07 100 1200
PE08 0
PE10 100
PE11 15
16
113
800
8
225
400
100
100 (Positioning mode: 10)
30
□□□
□□
60
1500
1 □
20
90
1000
200
30
10
3 (Stopper type)
(Motor side)
180
500
27
0000 (<1000 stroke)/0001 (>1000 stroke)
133
1350
-2000 (<1000 stroke)/-200 (>1000 stroke)
42
86
2100
PA02
Rotation direction selection PA14
000
0
000 (Non)/002 (LEC-MR-RB-032)/003 (LEC-MR-RB-12)
1
(+：Counter motors side)
0
(+：Counter motors side)
000 002 000 ★ Adaptive tuning mode
★ Load to motor inertia moment ratio
PB01 000
PB06 7 7 50
★ Machine resonance suppression filter 1
PB13 4500
★ Notch shape selection 1 PB14 000
4500
000
400
4500
030 000
★ Parameter setting required.
Differs to initial value
*1. Parameter is set to the recommended value. Please set parameter according to customer application.
*2. Mechanical resonance may occur depending on the shape or mounting orientation of the work piece. Please change this parameter during initial configuration.
(Parameter initial configuration ⇒ Set the recommended parameter value ⇒ Operation start)
*3. Other than positioning mode: Actuator travel distance at 10 [μm/pulse] per pulse.
Positioning Mode: Minimum actuator travel distance of 1[μm].
- 29 -
Recommended value
Recommended Parameter Values [LEY]
Series
Parameter
Lead
Para. No
Initial value
LEY25/LEYG25 LEY25D/LEYG25D
12 6 3 12 6 3 20
LEY32/LEYG32 LEY32D/LEYG32D
10 5 16 8 4
Number of command input pulses per revolution *3.
Electronic gear numerator *3.
Electronic gear denominator *3.
Feel length multiplication (STM)
(Multiplier)
Home position return type
Home position return direction
Home position return
Speed (rpm)
Home position return/JOG operation
Accelerationeration/De celeration time constants (msec)
Home position return position data (μm)
Stopper type home position return stopper time (msec)
Stopper type home position return torque limit value (%)
Regenerative option
PA05
PA06
PA07
PE02
PE03
PE03
PE04
PE07
PE08
PE10
PE11
100
1
1
0000
0010
0010
500
100
0
100
15
12 6 3 12
□□□
□□ 1 □
100
100 (Positioning mode: 10)
6 3 20
0000 (<1000 stroke)/0001 (>1000 stroke)
3 (Stopper type)
(Motor side)
50 100 200 50 100 200 30
200
30
10 5 16
-2000 (<1000 stroke)/-200 (>1000 stroke)
8 4
60 120 38 75 150
600 300 150 600 300 150 1000 500 250 800 400 200
Rotation direction selection
PA02 000
PA14 0
0
(+：Counter motors side)
000 (Non)/002 (LEC-MR-RB-032)
1
(+：Counter motors side )
0
(+：Counter motors side)
000
1
(+：Counter motors side )
Adaptive tuning mode PB01
Load to motor inertia moment ratio
Machine resonance suppression filter 1
Notch shape selection
1
PB06
PB13
PB14
000
7
4500
000
7
4500
000
Differs to initial value
*1. Parameter is set to the recommended value. Please set parameter according to customer application.
*2. Mechanical resonance may occur depending on the shape or mounting orientation of the work piece. Please change this parameter during initial configuration.
(Parameter initial configuration ⇒ Set the recommended parameter value ⇒ Operation start)
*3. Other than positioning mode: Actuator travel distance at 10 [μm/pulse] per pulse.
Positioning Mode: Minimum actuator travel distance of 1[μm].
- 30 -
Series
Lead symbol A B
LEY63
C L A
LEY63D
B C
Parameter
Para. No
Initial value
Recommended value
Number of command input pulses per revolution *3.
Electronic gear numerator *3.
Electronic gear denominator *3.
Feel length multiplication (STM)
(Multiplier)
Home position return type
Home position return direction
Home position return
Speed (rpm)
Home position return/JOG operation
Accelerationeration/D eceleration time constants (msec)
Home position return position data (μm)
Stopper type home position return stopper time (msec)
Stopper type home position return torque limit value (%)
Regenerative option
Rotation direction selection
Adaptive tuning mode
Load to motor inertia moment ratio
Machine resonance suppression filter 1
Notch shape selection 1
PA05
PA06
PA07
PE02
PE03
PE03
PE04
PE07
PE08
PE10
PE11
PA02
PB01
PB06
PB13
PB14
100
1
1
0000
0010
0010
500
100
0
100
15
000
PA14 0
000
7
4500
000
20
30
1000
100
(10)
10
60
500
5
□□□
120
250
□□ 1 □
100
35
(7)
1
(2)
210
143
200
30
000 (Non)/002 (LEC-MR-RB-032)/003 (LEC-MR-RB-12)
0
1
(+：Counter motors side) (+：Counter motors side )
000
7
4500
000
20
3 (Stopper type)
(Motor side)
30
1000
100
(10)
10
0000 (<1000 stroke)/0001 (>1000 stroke)
60
500
-4000 (<1000 stroke)/-400 (>1000 stroke)
5
120
250
Differs to initial value
*1. Parameter is set to the recommended value. Please set parameter according to customer application.
*2. Mechanical resonance may occur depending on the shape or mounting orientation of the work piece. Please change this parameter during initial configuration.
(Parameter initial configuration ⇒ Set the recommended parameter value ⇒ Operation start)
*3. Other than positioning mode: Actuator travel distance at 10 [μm/pulse] per pulse.
Positioning Mode: Minimum actuator travel distance of 1[μm].
- 31 -
5.3.5 Position control mode (pulse input)
It is required to set the command input pulse form dependent on the upper unit pulse train when using the Position control mode (pulse input).
・ Input form (3 types)
① Forward rotaion pulse train/Reverse rotaion pulse train
② Pulse train/ Directionphase pulse train/B-phase pulse train
③ A-phase pulse train/ B-phase pulse train
・ Logic (2 types)
・ Input form (3 pulse types) × positive/negative logic (2 types) = 6 selectable types
In the upper level device (positioning module), there is a parameter which sets the output pulse form (mode). The form of the upper level device (positioning module) must be made “compatable” with the LECSA. If the forms are not compatable, the operation work correctly. Please be aware that depending on the upper level device
(positioning module), the “command input pulse forms” above may not be available.
Parameter No. PA13
Selection of command input pulse form
Setting Pulse train form Forward rotation command Reverse rotation command
00
Forward rotation pulse train
Reverse rotation pulse train
PP
NP
01
Signed pulse train
PP
NP
H
L
02
10
11
12
A-phase pulse train
B-phase pulse train
PP
NP
Forward rotation pulse train
Reverse rotation pulse train
PP
NP
PP
Signed pulse train
NP
A-phase pulse train
B-phase pulse train
PP
NP
Pulse train input filter selection
Setting
0
1
2
Command pulse frequency
1Mpps or less
500kpps or less
200kpps or less
L
H
Ex.) Setting of Command input Pulse form, when:
(1) The command pulse frequency is 200kpps or less and
(2) The pulse train form is set to positive logic, with the NP signal high and low
[PA13] = 201
- 32 -
①
① Change PA13 in the Basic settings list tab to 201.
② Click “Write All”.
③ Cycle the power off, then on for the Parameters to be activated.
②
- 33 -
5.3.6 Electronic Gears
It is necessary to adjust the electric gear to convert from the command pulse sent from position unit to the travel amount of electrical actuator.
See “LECSA Operation Manual (Simplified Edition)”,section 5.3.4 for the recommended values for electronic gears for each actuator model.
Please configure the electronic gear values according to the customer application.
(1) LECSA Parameter Configuration: [PA05], [PA06] and [PA07]
No. Symbol
Parameter
Name
Initial value
Setting range Unit
Position
Control mode
Internal speed
Internal torque
Positioning
PA05 *FBP Number of command input pulses per revolution 100
0 100 to
500
100 pulse/rev
Electronic gear numerator
(Command pulse multiplying factor numerator)
Electronic gear denominator
(Command pulse multiplying factor denominator)
1
1
1 to 65535
1 to 65535
(1) Complete configuration as shown below.
*[PA05] = 100 (Initial value)
* [PA06] = [PA05]×100×P×
1
1000
* [PA07] = Actuator lead (L) [mm]
P: Travel amount per 1 command pulse [μm]*
Ex.)
Travel amount per 1 command pulse (P=10μm)
Actuator lead (L = 6mm)
[PA05] = 100 (Initial value)
[PA06]=100×100×10×
=100×100×0.01
=100
1
1000
[PA07]=6 (Actuator lead (L) [mm])
*In case position control mode, "Travel amount per 1 command pulse"P = 10[um]
*In case positioning mode, "Travel amount per 1 command pulse"P = 1[um]
- 34 -
5.3.7 Automatic Input Signal ON Selection Parameter Configuration
Configure the input signal automatic ON selection parameter.
The parameter “PD01：Input signal automatic ON selection” settings, defines which input signals will turn ON automatically when the control circuit power supplyis turned on., doing this allows additional I/O signal selection range.
Please allocate it according to your system specification.
Configure the automatic ON selection in parameter [PD01], or configure the I/O signal layout. If I/O signal wiring layout is altered, do not configure PD01：Input signal automatic ON selection.
*If all I/O signals are controlled, please set PD01 to 0000.
Please configure PD01：Input signal automatic ON selection in Hexadecimal (HEX).
During Actuator Operation: <Signals which must be ON during actuator operation>
Set PD01 as 0C24. The following signals will automatically turn on when power supply turns on.
SON Servo-on
OFF：Servo-off
LSP
LSN
Forward rotaion Stroke end
(normally closed contact)
Reverse rotaion Stroke end
(normally closed contact)
ON ：Servo-on (operational)
OFF： Forward rotaion Stroke end
ON ：Forward rotaion Stroke end off (operational)
OFF：Reverse rotaion Stroke end
ON ：Reverse rotaion Stroke end off (operational)
(normally closed contact)
OFF：Forced stop
ON ：Forced stop off (operational)
In positioning mode (point table), congifure the operation mode using automatic/manual selection MD0.
The MD0 off selection will allow Jog operation and it will require an input reserved for MD0.
For Automatic MD0 please set PD01 as 0C25. Will also include MD0 automatic ON.
ON: Automatic Operation Mode
Home position return/positioning mode operation available.
- 35 -
* Enabling “Stroke end” (LSP, LSN) , “Forced stop” (EM1) and “Servo-on” (SON) Signals
① Set to PD01 to 0C24 in the I/O setting tab.
② Select “Write All”.
③ Cycle the power off, then for thechanged Parameters to be enabled.
①
②
* In this configuration, the stroke end (LSP, LSN), forced stop (EM1) and servo-on (SON) signals will be ON automatically when the power is turned ON.
- 36 -
5.4 JOG Mode in the Setup Software
① The “JOG Mode” window can be displayed by selecting “Jog” from the “Test” menu in the setup software.
② Click “OK”.
(When using this function, all external input signal operation will be diabled. If controlling using a PLC or other upper device, please turn off the power and reset the device before use.)
①
②
- 37 -
5.4.1 JOG Mode
① In order to prevent accidental impact at the end of the stroke, test actuator operation at low speed.
See “LECSA Operation Manual (Simplified Edition)”,section 5.6.2 for motor speed configuration.
See “LECSA Operation Manual (Simplified Edition)”,section 5.6.3 for Acceleration/deceleration time.
② Check actuator JOG operation using [Forward (CCW)] and [Reverse (CW)] in JOG mode. (if operation is not correct, please check wiring and parameters).
When performing JOG operation in the setup software, the rotation direction of the actuator does not change if you change the setting of parameter PA14
(Rotation direction selection).
The actuator moves in the direction of [Forward (CCW)] button and
[Reverse (CW)] button.
③ If the selection “LSP and LSN are automatically turned ON” is not checked, an alarm will occur (if checked, the stroke end signals (LSP & LSN) will be automatically turned ON when this window is open).
①
②
③
Motorspeed 0 ~ allowable actuator speed
Acceleration/de celeration time
0 ~ 50000
r/min ms
Description
Set the command speed of the servo motor for execution of positioning
(motor rotations/minute).
Set the time until the servo motor reaches/stops to the rated speed (3000 r/min).
- 38 -
5.5 Changing I/O Signal Allocation
Input/output signal assignment can be changed as appropriate from initial settings. There may be cases when changes to the Input/output signal assignment are required for actuator operation.
Please be aware that any changes will alter signals entered as initial settings.
Please allocate it according to your system specification.
*When configuring PD**, please set parameter write inhibit [PA19] to 00E.
See “LECSA Operation Manual”,section 4.4 for details.
Set parameters related to I/O: [PD02] to [PD18]
PD02 to PD14 Input signal assignment (CN1-23, CN1-25, CN1-3 to CN1-8)
PD15 to PD18 Output signal assignment (CN1-9 to CN1-12)
5.5.1 Initial I/O Signal Allocation
(1) Position control mode (pulse input):
The initial (Default) allocation of I/O signals is shown below.
Input signal points (6): (position control mode) and initial assignment Output signal points (4) (position control mode) and initial assignment
See “LECSA Operation Manual”,section 3.5 and “LECSA Operation Manual”,section 3.6 for details regarding signals.
See “LECSA Operation Manual”,section 4.4.2 for parameter configuration values.
※ Pins CN1-23 and CN1-25 are pulse input terminals. These cannot be allocated as any other input signals.
※ Pins CN1-3 - CN1-8 (input signals) and CN1-9 - CN1-12 (output signals) can be allocated as current SYNC (NPN) interface and current SOURCE (PNP) interface wiring and I/O signal allocation.
(2) Positioning mode:
The initial allocation of the I/O signals is shown below.
Input signal points (8): (positioning mode) and initial assignment Output signal points (4): (positioning mode) and initial assignment
See “LECSA Operation Manual”,section 13.2.3 for details regarding signals.
See “LECSA Operation Manual”,section 4.4.2 for details on parameter setting values.
※ Pins CN1-23 and CN1-25 can be allocated in current SYNC (NPN) interface interface wiring and I/O signal allocation only.
※ Pins CN1-3 and CN1-8 (input signals) and CN1-9 ~ CN1-12 (output signals) can be allocated in currect SYNC (NPN) interface and current SOURCE (PNP) interface wiring and I/O signal allocation.
- 39 -
5.5.2 Signal Allocation using Setup Software
① The “Parameter Setting” window will be displayed when “parameter list” is selected from the “parameters” menu in the setup software.
② Click the I/O setting tab.
③ When changing the allocation of signals, parameters for “PD02” - “PD18” can be altered.
①
②
- 40 -
①
5.5.3 Allocation Examples for Position Control Mode (Pulse Input)
(1) Example of Gain switch (CDP) Settings
When changing pin CN1-4 from Servo-on (SON) to Gain switch (CDP).
① Changing PD05 from 0202 to 0211
1 1
- 41 -
(2) Symbol allocation using the setup software:
Changing pins CN1 – 4 from servo-on (SON) to gain switch (CDP):
① Change PD05 from 0202 to 0211 in the I/O settings tab.
② Select “Write All”.
③ Cycle the power off, then on for the parametersto be enabled..
②
※ Please allocate pins CN1-4 separately.
※ See “LECSA Operation Manual”,section 4.4.2 for details on allocation of input signals to pins CN1-3
- CN1-8.
※ See “LECSA Operation Manual”,section 4.4.2 for details on allocation of Output signals to pins
CN1-9 - CN1-12.
- 42 -
5.5.4 Setting a Maximum of 7 Points using the Point Table in Positioning mode (Point
Table)
The point table can reach a maximum of 7 points using input signals DI0, DI1 and DI2.
The default allocation, allocates signals DI0 to (CN1-5) and DI1 to (CN1-23).
Note – CN1-23 can only be used if the input is configured as current sink NPN
4 points can be specified , however 1 point is reserved for the home position return, 3 points can be specified in the point table.
When using a maximum of 7 point tables, wiring and input signal allocation of the DI2 must be
implemented.
- 43 -
(1) Example of Allocation of a Maximum of 7 Points in current SYNC (NPN) Interface
Changing pin CN1-7 from Reverse rotation start (ST2) to point table no./program no. selection 3 (DI2):
①
① Change PD12 from 0808 to 2E08.
2E
- 44 -
(1) Example of Allocation of a Maximum of 7 Points in current Source (PNP) Interface
① Changing pins CN1-3 from Automatic/manual selection (MD0) to point table no./program no. selection 3
(DI2):
② Changing pins CN1-7 from Reverse rotation start (ST2) to point table no./program no. selection 2 (DI1):
①
②
① Change PD04 from 2003 to 2E03.
2E
② Change PD12 from 0808 to 2D08.
2D
- 45 -
Note
One example of signal allocation will be shown using the Setup Software. It is expected that the user will follow similar method applicable to the relevant signals that need reallocation.
(1) Example of Signal Allocation using the setup software
When changing pins CN1-7 from Reverse rotation start (ST2) to point table no./program no. selection 3 (DI2):
① Change PD12 from 0808 to 2E08 in the I/O settings tab.
② Click “Write All”
③ Cycle the power off, and then on for the parameters to be enabled.
①
0808 →2 E08
②
* Complete pin CN1-7 allocation separately.
* See “LECSA Operation Manual”,section 4.4.2 for details on allocation of input signals to pins CN1-3 - CN1-8
* See “LECSA Operation Manual”,section 4.4.2 for details on allocation of input signals to pins CN1-23 and
CN1-25
* See “LECSA Operation Manual”,section 4.4.2 for details on allocation of output signals to pins CN1-9 and
CN1-12
Schematics showing typical 3 point positioning
- 46 -
5.5.5 I/O Signal Allocation Check
The ON/OFF state (including layout check) and signal names allocated to CN1 can be checked. When parameters for PD02 - PD18 have been changed, It is necessary to confirm these are correctly assigned.
① From the Monitor menu of the Setup Software select Input/Output I/F Display. The Input/Output I/F
Display window opens and displays the inputs and outputs that are applicable. The window also displays the applicable MODE. The highlighted background implies the signals are active.
Positioning mode (point table)
①
- 47 -
5.6 Positioning Mode in Setup Software
① Using the Setup Software menu Test select Positioning. The positioning Mode window opens and
Test-mode window opensin the.
② Click OK. In the Test-mode
(When using this function, external input signal operation will be disabled. When controlling from a PLC or upper device, the power must be turned off and then on.)
②
①
- 48 -
5.6.1 Positioning Mode
① In order to prevent accidental impact at the end of the stroke, operate the actuator at a low speed initially. When changing speed or movement, increase the values whilst checking operation
(Change motorspeed, acceleration/deceleration time, movement distance values if required).
See “LECSA Operation Manual (Simplified Edition)”,section 5.6.2 for motorspeed configuration.
See “LECSA Operation Manual (Simplified Edition)”,section 5.6.3 for acceleration/deceleration time configuration.
See “LECSA Operation Manual (Simplified Edition)”,section 5.6.4 for move distance configuration.
② Actuator positioning operates using [Forward (CCW)] and [Reverse (CW)].
(Check wiring and parameters if operation cannot be performed correctly).
When performing positioning operation in the setup software, the rotation direction of the actuator does not change if you change the setting of parameter PA14 (Rotation direction selection).
The actuator moves in the direction of [Forward (CCW)] button and [Reverse (CW)] button.
③ Check the command impulse unit (electronic gear enabled).
The electronic gear duty set to PA05/PA06/PA07 will be enabled.
See “LECSA Operation Manual (Simplified Edition)”,section 5.3.4 – “Parameter Values by Actuator
Model” for PA05/PA06/PA07 settings for each actuator.
If PA05/PA06/PA07 are set to the values in “LECSA Operation Manual (Simplified Edition)”,section
5.3.4– Parameter Values by Actuator Model, the travel distance of the actuator per 1 pulse will be calculated as follows.
【Position control mode (pulse input)】
・ travel distance of the actuator per 1 pulse ＝ 10[μｍ] ( 0.01[mm])
【Positioning mode】
・ travel distance of the actuator per 1 pulse ＝ 1[μｍ] ( 0.001[mm])
④ If the “Stroke-end” (LSP, LSN) signal is not configured as ON, an alarm may occur. (When checked, the “stroke-end” (LSP, LSN) will be automatically turned ON only when this window is open.)
①
②
④
③
Motorspeed
0 ~ Allowed Speed for each actuator
Acceleration/de celeration time
0 ~ 50000
Move distance 0 ~ 99999999 r/min ms pulse
Description
Set the command speed of the servo motor for execution of positioning
(Motor rotations/min).
Set the time until the servo motor reaches/stops to the rated speed (3000 r/min)
Sets movement distance.
- 49 -
5.6.2 Motorspeed Configuration
<Rotation Speed Configuration>
① Motorspeed (r/min) configuration.
*R/min (rpm): Indicated motor rotation speed (motor rotations/min)
Rotation speed must be between 0 and the allowable speed limit for each actuator. Please be aware that the actuator will not operate if this is set to 0.
If the rotation speed is too low, this may cause vibration; check the actuator while changing settings.
Movement speed (mm/s) must be converted into rotation speed (r/min).
See below for the conversion formula.
Calculating motor speed conversion example using an actuator with a 20mm lead and 500 [mm/sec] speed.
Rotations per Second
Distance of movement per second
÷
Distance of movement per rotation
Rotation Speed (rpm) = Speed (mm/s) ÷ Lead (mm) }×60 (S)
= {500 (mm/s) ÷20 (mm) }×60 (s) =1500 (rpm)
①
- 50 -
5.6.3 Acceleration/deceleration Time Configuation
< Acceleration/deceleration Time Configuration>
① Acceleration/deceleration time (ms) configuration:
The acceleration/deceleration time sets the amount of time (ms) in which a prescribed number of rotations
(3000[r/min]) is reached.
The acceleration/deceleration time must be set to a value between 0 and the allowable acceleration/deceleration speed for each actuator.
The acceleration/deceleration time must be converted from the acceleration/deceleration speed. See below for the conversion formula.
Calculating Acceleration/deceleration conversion example using an actuator with a 8 [mm] lead
with an acceleration of 3000[mm/sec 2 ].
Speed at a rated motor rotation of 3000rpm
Accel/decel time (ms) = {Rated Rotation Speed (r/min) ÷60 (S) }× Screw Lead (mm) × 1000
Acceleration/deceleration speed (mm/s 2 )
Acceleration/deceleration time (ms) = {3000 (r/min) ÷60 (S) } × 8 (mm) × 1000
3000 (mm/s 2 )
＝ 133 (ms)
①
- 51 -
5.6.4 Move distance Configuration and Operation < Move distance Configuration>
① Set the move distance [pulse]. Select a value within the stroke range.
② Actuator position will operate using [Forward (CCW)], [Reverse (CW)].
The position at which power is turned ON will be set as the home position, and the actuator will travel the amount set as move distance (check wiring and parameters If operation is not performed correctly).
When performing positioning operation in the setup software, the rotation direction of the actuator does not change if you change the setting of parameter PA14 (Rotation direction selection).
The actuator moves in the direction of [Forward (CCW)] button and [Reverse (CW)] button.
③ Check command input pulse units (electronic gear enabled).
The electronic gear duty configured in PA05/PA06/PA07 will be enabled. See “LECSA Operation Manual
(Simplified Edition)”,section 5.3.4 for setting values for PA05/PA06/PA07 in each actuator. If parameters
PA05/PA06/PA07 are set according to“LECSA Operation Manual (Simplified Edition)”,section 5.3.4, the travel distance of the actuator per 1 pulse will be as follows.
【Position control mode (pulse input)】
・ travel distance of the actuator per 1 pulse ＝ 10[μm] ( 0.01[mm])
【Positioning mode】
・ travel distance of the actuator per 1 pulse ＝ 1[μm] ( 0.001[mm])
Travel distance (mm) must be converted to tavel distance (pulse).
See below for the conversion formula. As an example, for a travel of 100m;
【Position control mode (pulse input】
Travel distance of the actuator per 1 pulse = 0.01 (mm)
*1
100 (mm)/0.01 (mm) = 10000 (pulse)
【Positioning mode】
Travel distance of the actuator per 1 pulse = 0.001 (mm)
*1
100 (mm)/0.001 (mm) = 100000 (pulse)
*1 The travel distance of the actuator per 1 pulse is set according to the electronic gears (PA05/PA06/PA07) outlined in 5.3.4 “Recommended
Parameter Values by Actuator Model”.
④ If the stroke end signals (LSP, LSN) are not turned ON, an alarm may occur (If checked, the stroke end
(LSP, LSN) signals will be turned ON automatically only when this window is open).
* Ensure that the [Forward (CCW)] and [Reverse (CW)] driving directions are checked. If the driving direction is unclear, operate the actuator slowly with a small move distance while checking the driving direction.
②
①
④
③
- 52 -
5.7 Positioning (Point Table) Operation using the Setup Software
This feature is only available in positioning (point table) mode.
When positioning using the positioning (point table) mode, the point table (position data, speed data, acceleration time, deceleration time etc.) must be configured.
5.7.1 Point table List
① Using the “Positioning Data” menu in the setup software.The “Point table list” can be opened by selecting
“Point Table”
② “Read All”： point table data will be read from the LECSA and displayed.
③ “Write All”： point table data will be written to the LECSA.
①
② ③
5.7.2 Point Table Data
Position data
Servo motor speed
－ 999.999
~ 999.999
×10STM ｍｍ
Description
(1) When using this point table as absolute value command system, set the target address (absolute value).
(2) When using this point table as incremental value command system, set the travel distance. A "-" sign indicates a reverse rotation command.
Number of decimal places changes according to STM (Feel length multiplication)
0 ~ allowable actuator speed r/min Sets the command rotation speed (Motor rotations/min) when positioning is executed.
Acceleration time constant
Deceleration time constant
0 ~ 20000
0 ~ 20000 ms ms
Set the time until the servo motor reaches to the rated speed. (3000 r/min)
Set the time until the servo motor stops from the rated speed. (3000 r/min
When dwell is set and the set dwell has passed after the position command of the
Auxiliary function 0 ~ 3
Set "1" in the auxiliary function and 0 in the dwell to perform varied speed operation.
(1) When using this point table in the absolute value command system
0: Automatic operation is performed in accordance with a single point table chosen.
1: Operation is performed in accordance with consecutive point tables without a stop.
(2) When using this point table in the incremental value command system
2: Automatic operation is performed in accordance with a single point table chosen.
3: Operation is performed in accordance with consecutive point tables without a stop.
When a different rotation direction is set, smoothing zero (command output) is confirmed and the rotation direction is then reversed.
Setting "1" in point table No. 7 results in an error.
Manuf .1
Manuf .2
Do not change.
- 53 -
5.7.3 Point table (Position data) Configuration
< Position data Configuration>
① For actuators with a stroke less than 1000mm, set parameter PE02 (Feel length multiplication (STM)
(Multiplier) ) to 0000 and the STM value to x1.
For actuators with a stroke more than 1000mm, set parameter PE02 (Feel length multiplication (STM)
(Multiplier) ) to 0001 and the STM value to x10.
② Configure position data (mm). Set to a value within the stroke range.
②
③
①
* If electronic gear parameters (PA05/PA06/PA07) are set according to“LECSA Operation Manual (Simplified
Edition)”,section 5.3.4 in positioning mode:
The smallest unit for actuator movement is 1[μm] (0.001[mm]).
- 54 -
5.7.4 Point table (Servo Mmotor Speed) Configuration
<Rotation Speed Configuration>
① Rotation speed configuration:
*R/min (rpm): motor command rotation speed (motor rotations/min)
Travel speed (mm/s) must be converted into rotation speed (r/min).
See below for the conversion formula.
Example using a 20[mm] Lead Actuator with target travel speed of 500[mm/sec]
Rotations per second
Travel distance per second
÷
Travel distance per rotation
Rotation Speed (rpm) = {Speed (mm/s) ÷ Lead (mm) }×60 (S)
= {500 (mm/s) ÷20 (mm) }×60 (s) =1500 (rpm)
The rotation speed must be a value between 0 and the allowable actuator speed. The actuator will not operate if set to 0.
Too low rotation speed (r/min), may cause vibration (resonance);
①
- 55 -
5.7.5 Point Table (Acceleration time constant/Deceleration time constant)
Configuration
< Acceleration time constant/Deceleration time constant Configuration>
① Acceleration time constant (ms)/Deceleration time constant (ms) configuration:
Acceleration/deceleration (mm/s
2
) must be converted to the acceleration time constant/deceleration time constant
(ms). See below for the conversion formula.
Conversion example for a 8[mm] lead actuator driven at an acceleration of 3000 [mm/sec 2 ]
Rated Motor Rotation Speed (mm/s)
Acceleration/deceleration speed (mm/s
2
)
Acceleration/Deceleration time constant (ms) = {3000 (r/min) ÷60 (S) } × 8 (mm) × 1000
＝ 133 (ms)
The acceleration time constant/deceleration time constant defines the time in (ms) when the motor rotations of (3000[ｒ/min]) are met.
The acceleration time constant/deceleration time constant must be a number between 0 and the allowable acceleration/deceleration speed range for each actuator.
①
5.7.6 Other Settings
The dwell and auxiliary functions are set to 0 as default.
Do not change Manuf .1 (0) or Manuf .2 (0.00) from the initial values.
- 56 -
5.7.7 Single-Step Feed
In Test mode a single step within point table can be executed.
① From the “Test” menu in the setup software select “Single-step Feed”which opens a window for
“Single-step feed”. (When using this function, external input signal operation will be disabled. If controlling using a PLC or other upper device, ensure the power is turned off and then on before operation.)
② Select point table number.
③ Press “Start”.
The actuator will set the position at which the power was turned on as the home position (0), and move towards the defined point table position.
①
②
③
* Check parameters PA05/PA06/PA07 parameters (electronic gear duty) if an unexpected move was observed.
Note
* Home position return cannot be performed in test mode.
In Test mode the default position of the actuator is set as the home position when the power was turned on.It is therefore possible to drive the actuator past the stroke ends. Please pay particular attention to the position of the actuator on power up.
- 57 -
5.8 Saving/Loading Parameters
5.8.1 Saving Parameters
① From the “Project” menu in the setup software select “Save As Project” opens a window “Save As Project”.
② Enter a project name.
③ Click “Save”.
Files will be saved to the default folder “C:/Melservo/setup221/*project name*
(If the path is changed then, the files will be saved to the new path /*project name*)
Files Saved device.prd paramet.prm project.prj point.ptbn
I/O signal device selection parameters setting file
Settings files for parameters PA, PB, PC, PD and PE
Project information file
Point table data file.
(Files will not be created in position control mode (pulse input))
* Note Always upload current parameters from the driver to the software before saving.
(See“LECSA Operation Manual (Simplified Edition)”,section 5.2.6 for uploading.)
①
②
③
②
- 58 -
①
5.8.2 To Load saved Parameters
① “Open Project” from the “Project” menu using the setup software The “Open Project” window will open.
② Select the drive/bus/*project name* of the saved parameters.
③ Click “Open”.
Parameters will be loaded.
* If the “project.prj” file name differs to that selected in ②, parameters may not be able to be loaded. Please move all project files to drive/bus/*project name* “project.prj”.
②
③
- 59 -
6.
Home Position Return Method
6.1 Position Control Mode (Pulse Input)
When using the home position return in position control mode (pulse input), use the home position return function in the positioning module of the upper PLC.
Please see product operation manuals for positioning module layouts, parameter configuration, home position return method etc.
6.2 Positioning mode (point table)
In positioning mode (point table) a home position return function is available. There are 6 types of home position return as shown below. See“LECSA Operation Manual”,section 13.6 for details.
Type Home position return method Features
Dog type
Count type
Data set type
Stopper type
With Deceleration started at the detection of front edge of a proximity dog switch signal, the position where the first Z-phase signal is given past the rear edgeof the dog signal or a motion has been made over the home position shift distance starting from the Z-phase signal is defined as a home position. (Note)
With Deceleration started at the detection of front edge of a proximity dog switch signal, the position where the first Z-phase signal is given after advancement over the preset moving distance after the proximity dog switch signal or a motion has been made over the home position shift distance starting from the Z-phase signal is defined as a home position.
An arbitrary position defined as a home position.
The position where the actuator stops when its slider is pressed against a machine stop is defined as a home position.
General home position return method using a proximity dog.
Good repeat accuracy of home position return
Decreases product load.
Used when the width of the proximity dog can be set greater than the deceleration distance of the servo motor.
Home position return method using a proximity dog.
Used when it is minimisation of the proximity dog length is required.
No proximity dog required.
Since the machine part collides with the machine be fully lowered.
The machine and stopper strength must be increased.
Home position ignorance
(Servo-on position as home position)
The position where servo is switched on is defined as a home position.
Dog type rear end reference
Count type front end reference
Dog cradle type
The position where the axis, which had started dcceleration of the front edge of a proximity dog switch signal, has moved the after-proximity dog moving distance and home position shift distance after it has passed the rear edge of proximity dog switch signal is defined as a home position.
The position where the axis, which had started dcceleration at the front edge of a proximity dog switch signal, has moved the after-proximity dog moving distance and home position shift distance is defined as a home position.
The position where the first Z-phase signal is detected after detection of the proximity dog front edge signal is defined as a home position.
Z-phase signal not required.
Z-phase signal not required.
Note. The Z-phase signal is a signal recognised in the driver once per servo motor revolution. This cannot be used as an output signal.
Set parameter PE03 (Home position return type) for home position return. The parameter recommended in “LECSA
Operation Manual (Simplified Edition)”,section 5.3.4 is the stopper type (PE03：0003). Please select the home position return as appropriate to the customer application.
- 60 -
6.2.1 Stopper type home position return
In stopper type home position return, a machine part is pressed against a stopper using JOG operation to make a
home position return and that position is defined as the home position.
(1) Devices and Pparameters
Configure the input devices and parameters as shown below.
Description
Manual home position return mode selection
Automatic/manual selection (MD0) Turn MD0 ON.
Point table No./Program No. selection 1 to 3 (DI0 to DI2)
Point table: Select the home position return mode by turning OFF
DI0, DI1 and DI2.
Program: Select a program that has the home position return "ZRT" command.
Stopper type home position return
Home position return direction
Home position return speed
Stopper time
Parameter No. PE03
Parameter No. PE03
Parameter No. PE04
Parameter No. PE10
Stopper type home position return torque limit value
Home position return
Acceleration time constant
Home position return position data
Parameter No. PE11
Parameter No. PE07
Parameter No. PE08
Note
* To set [PE**], set parameter write inhibit [PA19] to "00E".
3: Stopper type home position return is selected.
Select the home position return direction.
Set the speed till contact with the stopper.
Time from when the part makes contact with the stopper to when home position return data is obtained to output home position return completion (ZP).
Set the servo motor torque limit value for execution of stopper type home position return.
Set the Acceleration time constant during a home position return.
Set the current position at home position return completion.
- 61 -
(2) Timing chart
Automatic/manual selection (MD0)
ON
OFF
DI0, DI1, and DI2
Forward rotation start
(ST1)
ON
OFF
Reverse rotation start
(ST2)
ON
OFF
(Note 1)
6ms or more 6ms or more
(Note 4)
Torque limit value Parameter No. PC14 (Note 3) Parameter No. PE 11 Parameter No. PC14
Servo motor speed
Forward rotation
0r/min
Acceleration time constant parameter
No. PE07
Home position return speed parameter No. PE04
Home position address parameter
No. PE08
3ms or less
Stopper time parameter No. PE10
Stopper
Limiting torque (TLC)
ON
OFF
Rough match (CPO)
ON
OFF
Travel completion
(MEND)
ON
OFF
Home position return completion (ZP)
ON
OFF
(Note 2)
Forward rotation
ON
OFF
ON
OFF
Forced stop (EM1)
ON
OFF
Note 1. External input signal detection is delayed by the input filter setting time of parameter No. PD19. Implement a sequence that changes DI0, DI1 and DI2 ahead of time by considering delays in output signal sequence from the PC or PLC and variations of a signal change due to hardware.
2. TLC turns ON when the torque reaches the value set in forward torque limit (parameter No. PA11),reverse torque limit (parameter
No. PA12) or internal torque limit (parameter No. PC14).
3. The torque limit that is enabled at this point is as follows.
(Note)
Input device
TL1
Limit value status Validated torque limit values
1
Parameter No. PC14 >
Parameter No. PC14 <
Parameter No. PE11
Parameter No. PE11
Parameter No. PE11
Parameter No. PC14
Note. 0: off
1: on
4. Point table method: Select the home position return mode by turning OFF DI0, DI1 and DI2.
Program method: Select the program that has the home position return "ZRT" command.
The set value in parameter No. PE08 (home position return position data) is applied as position address at the time of the home position return being completed.
- 62 -
7. Diriving Methods for Each Mode
7.1 Position Control Mode (Pulse Input)
The motor rotation speed and direction is controlled using the pulse train and executes positioning operation.
7.1.1 Position Control Mode Instructions
The command pulse sent as input to the driver from the positioning unit and the driver operates the actuator in accordance with the command pulse. The command pulse and driver operation examples are shown below.
Command pulse Droop pulses
Droop pulses [pulses] 0
CDL
CDL
After-changing gain
Servo motor speed 0 r/min
(95ms)
ON
OFF
Electromagnetic brake interlock
(MBR)
(Note 1) ON
OFF
Servo-on (SON)
ON
OFF
(95ms)
Position command
(Note 4) brake
0 r/min
Release
Activate
Forward rotation stroke end
(LSP)
Reverse rotation stroke end
(LSN)
Forced stop
(EM1) OFF
ON
OFF
ON
OFF
ON
(Note 3)
Release delay time and external relay (Note 2)
Coasting
Tb
Electromagnetic brake sequence output
(parameter No. PC09)
- 63 -
7.2 Speed control mode
This mode allows for accurate, smooth control of the rotation speed and direction of the servo motor.
* To set [PC**], set parameter write restriction [PA19] to "00E".
7.2.1 Speed Control Mode Operation Instruction
The servo motor will rotate when signal ST1 and ST2 turn on. An operation example of the speed control mode is shown below.
Internal speed command settings
Speed command and speed
The servo motor operates at the speed set in parameters.
Up to 8 speeds can be set to the internal speed command.
The following table indicates the rotation direction according to forward rotation start (ST1) and reverse rotation start (ST2) combination.
(Note 1) Input device
(Note 2) Rotation direction
ST2 ST1
0 0 Stop (Servo lock)
Forward rotation (CCW)
0
1
1
0
Forward rotation (CCW)
Reverse rotation (CW)
1 1 Stop (Servo lock)
Note 1. 0: off
1: on
2. If the torque limit is canceled during servo lock, the servo motor may suddenly rotate according to position deviation in respect to the command position.
Reverse rotation (CW)
Connect the wirings as follows when operating in forward or reverse rotation with the internal speed command set to the eighth speed.
Note that the inputs are configured as Current sink NPN Type
Forward rotation start
Peverse rotation start
Speed selection 1
Speed selection 3
ST1
ST2
SP1
SP2
SP3
DOCOM
(Note 2)
Assignment of signals in the initial setting
- LECSA: SP1
Assign signals "speed selection 2 (SP2) and speed selection 3 (SP3) "when the driver is used to [Internal speed command 7].
DICOM
24VDC
Refer to “LECSA Operation Manual (Simplified Edition)”,section 5.5 for signal assignment.
LECSA Speed Command Parameter Setting
SP3
(Note) Input device
SP2 SP1
0
0
0
0
0
1
Speed command value
Internal speed command 0 (parameter No. PC05)
Internal speed command 1 (parameter No. PC06)
0
0
1
1
1
1
1
1
0
0
1
1
0
1
0
1
0
1
Internal speed command 2 (parameter No. PC07)
Internal speed command 3 (parameter No. PC08)
Internal speed command 4 (parameter No. PC31)
Internal speed command 5 (parameter No. PC32)
Internal speed command 6 (parameter No. PC33)
Internal speed command 7 (parameter No. PC34)
Note. 0:OFF
1:ON
8 patterns of speed configurations are available for LECSA,.
Initial phase
- 64 -
7.3 Torque control mode
Servo motor output torque is controlled. Speed control function is also available.
* To set [PC**], set parameter write restriction [PA19] to "00E".
7.3.1 Torque Control Mode Operation Instruction
The servo motor will rotate when signal RS1 and RS2 turn on. An operation example of the torque control mode is shown below. Internal torque command settings:
Torque is controlled by the internal torque command set in parameter No. PC12.
If the internal torque command is small, the torque may vary when the actual speed reaches the speed limit value.
In such case, increase the speed limit value.
The following table indicates the torque generation directions determined by the forward rotation selection (RS1) and the reverse rotation selection (RS2) when the internal torque command (parameter No. PC12) is used.
(Note) Input device Rotation direction
0 0
0.1 to 100.0%
Torque is not generated.
CCW (reverse rotation in driving
0.0% regenerative mode)
CW (forward rotation in driving
Torque is not generated.
Forward rotation (CCW)
1 1 regenerative mode)
Torque is not generated.
Note. 0: off
1: on
Generally, make connection as shown below.
Note that the inputs are configured as Current sink NPN Type
Reverse rotation (CW)
Forward rotation start
Peverse rotation start
Speed selection 1
Speed selection 3
24VDC
RS1
RS2
SP1
SP2
SP3
DOCOM
DICOM
(Note 2)
Assignment of signals in the initial setting
- LECSA: SP1
Assign signals "speed selection 2
(SP2) and speed selection 3 (SP3)
"when the driver is used to up to
[Internal speed command 7].
Refer to “LECSA Operation Manual (Simplified Edition)”,section 5.5 for assignment of signal.
LECSA speed restricted parameter setting
(Note) Input device
Speed command value
SP3 SP2 SP1
Initial phase
Note. 0:OFF
1:ON
For LECSA, 8 patterns of speed setting are available.
- 65 -
7.4 Point table method
Positioning operation can be executed by setting the position data, rotation speed, acceleration time constant, deceleration time constant to the point table data. (The maximum points that can be set in point table is 7.)
7.4.1 Operation Instruction of Point Table system
Select the point table No. represented by the values of DI0, DI1 and DI2. Start the operation by selecting ST1 or ST2.
Functions/Applications
I/O division
Positioning mode
CP CL
Point table No.
/Program No. selection 1
DI0 DI-1
Point table No.
/Program No. selection 2
Point table No.
/Program No. selection 3
Program input 1
DI1
DI2
PI1
CN1-5 <In point table method>
The point table No. and the home position return mode are selected by DI0 to DI2.
<In program method>
The program No. is selected by DI0 to DI2.
Device
CN1-23 DI2 DI1 DI0
0
0
0
0
1
0
0
1
1
0
1
1
1
0
1
1
0
1
0
1
0
1
0
1
Point table method
Home position return mode
Point table No. 1
Point table No. 2
Point table No. 3
Point table No. 4
Point table No. 5
Point table No. 6
Point table No. 7
Note. 0: off
1: on
Turn PI1 on to resume the step stopped by the
SYNC (1) command in the program.
DI-1
DI-1
DI-1
Point table No.
Position data
[×10 STM μm]
Servo motor speed [r/min]
Acceleration time constant
[ms]
Deceleration time constant
[ms]
Dwell
[ms]
Auxiliary function
Note. Always set "0" or "2" to the auxiliary function in the last point table among the consecutive point tables.
0: When point table is used in absolute value command system
2: When point table is used in incremental value command system
- 66 -
Automatic/manual selection (MD0)
Servo-on (SON)
Forward rotation start
(ST1)
ON
OFF
ON
OFF
ON
OFF
Point table No.
Servo motor speed
In-position (INP)
Rough match (CPO)
(Note 2)
Travel completion
(MEND)
Point table No. output
(PT0 to PT2)
Ready (RD)
Forward rotation
0r/min
Reverse rotation
ON
OFF
ON
OFF
ON
OFF
Trouble (ALM)
ON
OFF
ON
OFF
ON
Forward rotation stroke end
(LSP)
OFF
ON
Reverse rotation stroke end
(LSN)
OFF
ON
Forced stop
(EM1) OFF
(Note 1)
6ms or more 6ms or more
3ms or less
1
Point table
No.1
Point table
No.2
Point table
No.3
1
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7.4.2 Setting method
(1) Setting with the button on the front of the driver
Ex.) When the servo motor rotation speed of point table No.3 is changed from 2500 (r/min) to 1000 (r/min) .
Driver operation display
a. When the "MODE" button on the driver operation is pressed, the display will be shifted as shown below.
Select "P-1". b. When the "UP" and "DOWN" buttons on the driver operation are pressed, the display will be shifted as shown below, Select
"P-3" and press the "SET" button. c. The "UP" and "DOWN" buttons on the driver operation are pressed to Select "Spd", thenpress the "SET" button.
•
Point table No.1
500
No.2 No.3 No.4 No.5
・・・
No.6 No.7
is displayed. The lower 3 digits of the set value are displayed. The operation procedure is described below.
When the "MODE" button is pressed, the upper 3 digits are displayed. Change the set value as shown below.
U P
D O W N
Position data
Upper 3 digits
Servo Motor speed
Acceleration constant
Deceleration constant
Set value before change
(r/min)
2 5 0 0 a. The set screen can be selected from the upper 3 digits and lower 3 digits with "MODE" button. b. Press the "SET"button.
The set value will start flashing.
Dwell
(Stop time)
c. Press the "UP"and "DOWN"buttons to change the set value. d. Press the "SET"button.
The set value will light up.
* When the set value is flashing, it is not registered.
Set value after change
1 0 0 0
(r/min)
Refer to “LECSA Operation Manual”,chapter 13 for details.
Auxiliary functions
Lower 3 digits b. Press the "SET"button.
The set value will start flashing. c. Press the "UP"and "DOWN"buttons to change the set value. d. Press the "SET"button.
The set value will light up.
* When the set value is flashing, it is not registered.
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7.5 Positioning Mode (Programimg Method)
To perform the positioning operation, create a program using position data, rotation speed, acceleration constant and deceleration constant (The maximum number of programs is 8 for which a total of 120 steps can be created per program). Install the set up software,MR Configurator TM :LEC-MR-SETUP221E which is required for setting the program data with the program system.
*1. Software version C5 or higher is required.
*2. Setup software should be prepared by the user.
*3. USB cable (LEC-MR-J3USB) is required for software installation.
See “LECSA Operation Manual”,section 13.4 for details regarding the positioning mode (programming method).
See “LECSA Operation Manual”,section 13.9 for details regarding programming methods.
7.5.1 Setting method a. Launch the setup software and select [Program (P)] of [Positioning data]. b. Select [Edit] on the program window to open the program edition window.
[OK]. e. Program data is written to the driver with [Write All] on the program window.
e b
C a d
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7.5.2 Command in the program system
An example of the program commands is shown below.
The maximum number of program steps is 120. Though up to 8 programs can be created, the total number of each program steps is up to 120.
The set program can be selected using point table no./program no. selection 1 (DI0) to point table no./program no. selection 3 (DI2).
(1) Command list
Indirect
Description
SPN
STA
STB
Speed (Motor speed)
Acceleration time constant
SPN
(Setting value)
0 to instantaneous permissible speed
STA
(Setting value)
0 to 20000
Deceleration time constant
STB
(Setting value)
0 to 20000 r/min ms ms
Used to set the command speed of the servo motor for positioning.
The set value should be equal to or less than the instantaneous permissible speed of the servo motor.
Used to set the Acceleration time constant.
The set value is the time in which the servo motor reaches the rated speed from a stop.
It cannot be changed during command output.
Used to set the Deceleration time constant.
The set value is the time in which the servo motor stops from the rated speed.
It cannot be changed during command output.
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7.5.3 Operation Instruction Method of Program System
Select the program No. represented by the values of DI0, DI1 and DI2 and start the operation by selecting
ST1.
Functions/Applications
I/O division
Positioning mode
CP CL
Point table No.
/Program No. selection 1
Point table No.
/Program No. selection 2
Point table No.
/Program No. selection 3
Program input 1
DI0 CN1-5 <In point table method>
The point table No. and the home position return mode are selected by DI0 to DI2.
<In program method>
The program No. is selected by DI0 to DI2.
DI-1
Device
DI1 CN1-23 DI2 DI1 DI0 Program DI-1
0
0
0
0
1
DI2 1
1
0
0
1
1
1
0
0
0
1
0
0
1
0
1
1
PI1
1
Note. 0: off
1
1: on
Turn PI1 on to resume the step stopped by the SYNC (1) command in the program.
DI-1
Program Description
SPN (1000)
STA (200)
STB (300)
MOV (1000)
TIM (100)
MOV (2000)
STOP
Speed (Motor speed)
Acceleration time constant
Deceleration time constant
Absolute move command
Dwell command time
Absolute move command
Program end
1000[r/min]
200[ms]
300[ms]
1000[×10 STM μm]
100[ms]
2000[×10 STM μm] a) b) c) d) e) f) b) Acceleration
time constant
(200ms) c) Deceleration
time constant
(300ms) b) Acceleration
time constant
(200ms) c) Deceleration
time constant
(300ms)
Forward rotation
Servo motor speed
0r/min a) Servo motor
speed
(1000r/min) a) Servo motor
speed
(1000r/min) d) Absolute
move command
(1000 10 STM m) e) Dwell command
time (100ms) f) Absolute
move command
(2000 10 STM m)
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8. Troubleshooting
8.1 Alarms and Warning List
POINT
As soon as an alarm occurs, turn off servo-on (SON) and the main circuit power supply.
When a fault occurs during operation, the corresponding alarm or warning is displayed. If an alarm or warning occurrs, refer to“LECSA Operation Manual”,section 8.2 or“LECSA Operation Manual”,section 8.3 and take the appropriate action. When an alarm occurs, ALM turns off.
After removing the cause of the alarm, the alarm can be deactivated in any of the methods marked in the alarm deactivation column. The warning is automatically canceled after removing the cause of occurrence.
No.
LED display
Name Power
OFF ON
Alarm deactivation
Press "SET" on current alarm screen.
Alarm reset
(RES)
A.10
A.12
A.13
A.15
A.16
A.17
A.19
A.1A
A.1C
A.1E
A.1F
A.20
A.21
A.24
A.30
A.31
A.32
A.33
A.35
A.37
A.45
A.46
A.50
A.51
A.52
A.8E
888
Undervoltage
Memory error 1 (RAM)
Clock error
Memory error 2 (EEP-ROM)
Encoder initial communication error1
Board error
Memory error 3 (Flash-ROM)
Motor combination error
Software combination error
Encoder initial communication error 2
Encoder initial communication error 3
Encoder normal communication error 1
Encoder normal communication error 2
Main circuit error
Regenerative error
Overspeed
Overcurrent
Overvoltage
Command frequency error
Parameter error
Main circuit device overheat
Servo motor overheat
Overload 1
Overload 2
Error excessive
USB communication error
Watchdog
(Note 1)
(Note 1)
(Note 1)
(Note 1)
(Note 1)
(Note 1) (Note
(Note 1) (Note
(Note 1) (Note
(Note 1) (Note
(Note 1) (Note
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3-digit,
LED display
Name
The servo motor stops
/does not stop.
A.90
A.91
A.96
A.97
A.98
A.99
A.E0
A.E1
A.E6
A.E9
A.EC
A.ED
A.F0
Home positioning incomplete warning
Driver overheat warning
Home position setting error
Program operation disabled
Software limit warning
Stroke limit warning
Excessive regeneration warning
Overload warning 1
Servo forced stop warning
Main circuit off warning
Overload warning 2
Output watt excess warning
Tough drive warning
Stops
Does not stop
Stops
Does not stop
Stops (Note 2)
Stops (Note 2)
Does not stop
Does not stop
Stops
Stops
Does not stop
Does not stop
Does not stop
Note 1. Deactivate the alarm about 30 minutes of cooling time after removing the cause of occurrence.
2. Operation to the direction which cancels the warning can be performed.
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Revision history
No.LEC‐OM05601
Dec./2012 1st printing
No.LEC‐OM05602
Dec./2013 2nd printing
No.LEC‐OM05603
Jun./2014 3rd printing
No.LEC‐OM05604
Aug./2014 4th printing
No.LEC‐OM05605
Oct./2014 5th printing
No.LEC‐OM05606
Oct./2014 6th printing
No.LEC‐OM05607
Dec./2014 7th printing
4-14-1, Sotokanda, Chiyoda-ku, Tokyo 101-0021 JAPAN
Tel: + 81 3 5207 8249 Fax: +81 3 5298 5362
URL http://www.smcworld.com
Note: Specifications are subject to change without prior notice and any obligation on the part of the manufacturer.
© 2014 SMC Corporation All Rights Reserved
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Key Features
- Pulse input type/Positioning type
- Position control mode
- Speed control mode
- Torque control mode
- Positioning mode
- Home position return
- Automatic tuning
- Electronic gear
- Setup software (MR Configurator)